Feedforward bilateral connectivity. This figure represents a detailed view of the bilateral architecture with feedforward connections. Gray boxes correspond to neural structures modeled as being unilateral. Red boxes represent right side neural structures. Blue boxes represent left side neural structures. The green shadow box represents the detailed description of the green box “brainstem” in Figure 1. Lines with arrowheads correspond to excitation, with filled circles correspond to inhibition, and with filled diamonds correspond to facilitation. No efferent-copy signals (to cortical and/or subcortical neural areas) are represented in this figure because they correspond to feedback connections.